Although the rotary table with the object NexeedRotTableDrive reaches the target nest position a position error occurs:
When we increased the settling time parameter of the object the error occured less and less:
The customer has ordered our coaching support so we were able to check the problem in detail.
The position range in the object was ok and had only a little effect:
So finally we started a scope measurement and then it was quite obviously:
The IndraDrive had to be optimized with IndraWorks. In this case especially the jerk settings were bad.
Now everything runs fine without settling time.
The condition for "in position" of NexeedRotTableDrive V184.108.40.206:
_modResult := MOD(_axisPos, _nestDistance);OutImm.InPos := ( ( _modResult < _parCfg.InPosRange ) OR ( ABS(_modResult - _nestDistance) <= _parCfg.InPosRange ) ) AND ( _axis.OutImm.AxisInReference ) AND ( _axis.OutImm.StandStill );